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Sticking rear shoes would not effect the normal braking of your Espace, the problem is in the braking system, if there is any air in the hydraulic system it could be that, as when you press your pedal a couple of times your brakes work.
Try bleeding the whole system. If you cannot do this or it does not cure it get your Espace to the garage.
Currently in davesss's garage:
2002 Laguna Sports Tourer 1.8 Dynamique Moondust VF1KGOB, Fiat Siecento Micheal Schumaker, Kawasaki KLE M/Cycle and a cheap Mountain Bike.